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Process rosemary and garlic in food processer till smooth, stopping once to scrape down sides. Add oil slowly in steady stream. Add salt and pepper. Spread pesto evenly over chicken. Tie chicken together in pairs with kitchen string, making 3 bundles. Place on a rack in a broiler pan. Bake at 350 for 40 minutes or until meat thermometer inserted into thickest portion registers 160 degrees. Let stand 15 minutes before serving.
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